Frequency domain analysis and design of iterative learning control for systems with stochastic disturbances

D.A. Bristow
2008 2008 American Control Conference  
In this work we examine the performance of Iterative Learning Control (ILC) for systems with nonrepeating disturbances and random noise. Single-input, singleoutput linear time-invariant systems and iteration-invariant learning filters are considered. We find that a tradeoff exists between the convergence rate and converged error spectrum. Optimal filter designs, which are dependant on the disturbance and noise spectra, are developed. We also present simple design guidelines for the case when
more » ... or the case when explicit models of disturbance and noise spectra are not available. A numerical design example is presented.
doi:10.1109/acc.2008.4587102 dblp:conf/amcc/Bristow08 fatcat:55gjxuei3nckbdtukkt6ar4cli